Tracked dual-rotor wall-climbing robot

Abstract

The invention provides a crawler-type dual-rotor wall-climbing robot, which can stably adsorb on the walls of different buildings, has a certain obstacle-crossing ability, and is not prone to slippage and overturning. The wall-climbing robot includes: a robot base plate, a two-degree-of-freedom reverse thrust adsorption unit, a front driving unit and a rear driving unit; the rear driving unit is a crawler driving unit; compared with the wheeled driving system of a conventional wall-climbing robot, the crawler-type dual-rotor wall-climbing robot of the invention adopts a crawler driving system, which increases the contact area between the robot and the contact surface, and increases the adhesion and friction of the robot.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, in particular to a wall-climbing robot, and belongs to the field of advanced manufacturing and automation. Background Art

[0002] Wall-climbing robots can carry a variety of sensors and actuators to replace humans in completing various tasks on the walls of high-rise buildings, bridges, dams and other buildings, such as cleaning exterior walls, inspecting the quality of building surfaces, and conducting anti-terrorism reconnaissance.

[0003] According to the adsorption principle, wall-climbing robots can be divided into four types: magnetic adsorption type, bionic adsorption type, negative pressure adsorption type, and suction cup adsorption type. Among them, negative pressure adsorption type robots can adapt to a variety of wall surfaces, but general negative pressure adsorption type wall-climbing robots have the characteristics of poor ability to climb over obstacles, easy instability during movement, and slow movement speed. Therefore, general negative pressure adsorption type wall-climbing robots are difficult to perform various tasks such as wall defect detection, metal processing, disaster relief, and dangerous goods detection. Summary of the invention

[0004] In view of this, the present invention provides a tracked dual-rotor wall-climbing robot, which can be stably adsorbed on the walls of different buildings, has a certain obstacle-crossing ability, and is not prone to slippage and overturning.

[0005] The technical solution of the present invention is: a crawler-type dual-rotor wall-climbing robot, comprising: a robot bottom plate, a two-degree-of-freedom reverse thrust adsorption unit, a front driving unit and a rear driving unit; the rear driving unit is a crawler driving unit;

[0006] The two crawler travel units are fixed on the left and right sides of the rear part of the robot base; the two front travel units are fixed on the left and right sides of the front part of the robot base; a two-degree-of-freedom reverse thrust adsorption unit is respectively arranged at the front and rear ends of the longitudinal center axis of the robot base; the two-degree-of-freedom reverse thrust adsorption unit generates an adsorption force toward the contact surface through the rotation of the propeller, and the two-degree-of-freedom reverse thrust adsorption unit can adjust the pitch angle and the roll angle.

[0007] As a preferred embodiment of the present invention, the crawler travel unit comprises: a crawler longitudinal frame, a crawler transverse frame, a driving gear, a driven gear, a crawler and a crawler drive motor;

[0008] The crawler travel unit is connected to the robot bottom plate through the crawler longitudinal frame; the crawler cross frame is connected to the crawler longitudinal frame through the crawler pitch axis, and the axial direction of the crawler pitch axis is along the lateral direction of the wall-climbing robot; the crawler cross frame can rotate around the axial direction of the crawler pitch axis;

[0009] The rear end of the crawler cross frame is fixedly connected to the crawler drive motor, and the power output end of the crawler drive motor is connected to the driving gear; the crawler is wrapped around the driving gear and the driven gear to form a belt transmission mechanism;

[0010] The driven gear shaft supported at the front end of the crawler track cross frame is connected with the driven gear.

[0011] As a preferred embodiment of the present invention, on the crawler longitudinal frame, a limiting bolt is fixed on each side of the crawler cross frame in the rotation direction around the crawler pitch axis, so as to limit the rotation range of the crawler cross frame.

[0012] As a preferred embodiment of the present invention, the front travel unit includes a steering mechanism and wheels; the wheels are connected to the robot base plate through the steering mechanism.

[0013] As a preferred embodiment of the present invention, the steering mechanism comprises: an upper steering fixed frame, a steering shaft, a steering block, a steering tie rod, a lower steering fixed frame, a steering servo arm and a steering servo;

[0014] The steering servo is fixed on the robot base plate, one end of the upper steering fixed frame is connected to the robot base plate, and the other end is provided with a circular hole for supporting the steering shaft; one end of the lower steering fixed frame is connected to the robot base plate, and the other end is provided with a circular hole for supporting the steering shaft; the upper and lower ends of the steering shaft are respectively fixed in the circular holes of the upper steering fixed frame and the lower steering fixed frame by means of retaining springs;

[0015] The steering block is sleeved on the outside of the steering shaft and can rotate around the axis of the steering shaft;

[0016] The power output end of the steering servo is connected to the steering servo arm, one end of the steering tie rod is hinged to the steering servo arm, and the other end is hinged to the steering block;

[0017] A cylinder is extended from one end of the steering block for connecting with the wheel.

[0018] As a preferred embodiment of the present invention, the steering rod includes screw sleeves at both ends and a stud in the middle, the two ends of the stud are respectively threadedly connected to the two screw sleeves, and the two screw sleeves are respectively hinged to the steering servo arm and the steering block; the length of the steering rod can be adjusted by the length of the threaded connection between the stud and the screw sleeve.

[0019] As a preferred embodiment of the present invention, an industrial friction conveyor belt is adhered to the surfaces of the wheels and the crawler tracks of the crawler travel unit.

[0020] As a preferred embodiment of the present invention, the front travel unit is a crawler travel unit.

[0021] As a preferred embodiment of the present invention, the two-degree-of-freedom reverse thrust adsorption unit comprises: an adsorption unit bracket, a pitch joint shaft, a rotor disc body, a pitch servo, a roll joint fixing frame, a roll joint fixing shaft, a roll servo, a propeller motor, a propeller and a roll frame body;

[0022] The rotor disc body is a circular frame, one of the two opposite ends of its outer circumference is connected to the pitch joint shaft, and the pitch joint shaft is supported on the adsorption unit bracket through a bearing; the other end is connected to the pitch servo steering wheel through a pitch servo coupling, and the pitch servo is fixed to the adsorption unit bracket at this end, and is used to drive the pitch servo steering wheel to rotate, thereby driving the rotor disc body to adjust the pitch angle;

[0023] A roll frame body is longitudinally arranged inside the rotor disc body, the roll servo comprises a servo body and a roll servo steering disc as a power output end, the servo body is fixed on the roll frame body, and the roll servo steering disc is fixedly connected to the roll joint fixing frame via a roll joint fixing shaft;

[0024] One end of the tumbling frame body is supported on the tumbling joint fixed shaft through a bearing; the other end is connected to the tumbling joint rolling shaft through a tumbling joint shaft plug; the tumbling joint rolling shaft is supported on the tumbling frame bearing frame B through a bearing;

[0025] The steering wheel of the rolling servo is fixed, and the servo body rotates, thereby driving the main body of the rolling frame to flip, so as to adjust the flip angle;

[0026] The propeller motor is fixed on the tumbling frame body, and the power output end of the propeller motor is connected to the propeller to drive the propeller to rotate.

[0027] As a preferred embodiment of the present invention, when the wall-climbing robot performs the conversion from the ground to the wall:

[0028] When the wheels touch the wall, the two-degree-of-freedom reverse thrust adsorption unit in front adjusts its pitch angle and increases the rotation speed of the propeller to lift the wheels; when the nine-axis sensor installed on the bottom plate of the robot detects the change in the pitch angle of the bottom plate of the robot, the tracked driving unit rolls at a set speed to ensure that the tracked driving unit continuously approaches the wall while the wheels are lifted on the wall; eventually, the tracked driving unit and the wheels both touch the vertical wall, thereby completing the conversion from the ground to the vertical wall.

[0029] Beneficial effects:

[0030] (1) Compared with the wheeled traveling system of a conventional wall-climbing robot, the crawler-type twin-rotor wall-climbing robot of the present invention adopts a crawler traveling system, thereby increasing the contact area between the robot and the contact surface, and increasing the adhesion and friction of the robot.

[0031] (2) In the crawler-type twin-rotor wall-climbing robot of the present invention, a crawler travel unit is provided with a crawler pitch axis. When encountering a raised obstacle, the crawler travel unit can rotate around the crawler pitch axis, thereby ensuring that the crawler is always perpendicular to the normal of the obstacle, thereby increasing the traction force of the robot and improving the obstacle climbing performance.

[0032] (3) The crawler travel unit is provided with a limit bolt for limiting the rotation of the crawler travel unit, thereby limiting the rotation range of the crawler travel unit and preventing the contact area between the crawler and the contact surface from being too small, thereby preventing slippage. The contact area between the crawler travel unit and the contact surface is thereby ensured, thereby ensuring that the robot has sufficient adhesion when traveling.

[0033] (4) In the crawler-type twin-rotor wall-climbing robot of the present invention, an industrial friction conveyor belt is used as the contact material between the robot crawler and the wheels and the contact surface, which allows the robot to travel under various wall conditions.

[0034] (5) The tracked twin-rotor wall-climbing robot of the present invention is provided with a two-degree-of-freedom reverse thrust adsorption unit. When climbing a wall, the two-degree-of-freedom reverse thrust adsorption unit will adjust the angles of the reverse thrust in the pitch direction and the roll direction of the robot, thereby providing reverse thrust in the robot's forward direction, lateral direction, and direction perpendicular to the wall, thereby ensuring the robot's stability and flexibility during driving.

[0035] (6) The overall structural rigidity of the steering mechanism in the present invention is high, ensuring the stability of the chassis structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 It is a schematic diagram of the overall structure of the crawler-type dual-rotor wall-climbing robot of the present invention;

[0037] Figure 2 It is a right side view of the robot of the present invention;

[0038] Figure 3 It is a schematic diagram of the structure of the reverse thrust adsorption unit;

[0039] Figure 4 Right side view of the crawler travel unit;

[0040] Figure 5 A top view of the crawler travel unit;

[0041] Figure 6 is a three-dimensional diagram of a steering mechanism;

[0042] Figure 7 Front view of the steering mechanism;

[0043] Figure 8 Bottom view of the steering mechanism;

[0044] Fig. 9 Schematic diagram of robot overcoming obstacles;

[0045] Fig.10 Schematic diagram of the robot from ground to wall;

[0046] Fig.11 Schematic diagram of the overall structure of the tracked twin-rotor wall-climbing robot in Example 2.

[0047] Among them: 1- robot base plate, 2- two-degree-of-freedom reverse thrust adsorption unit, 3- crawler driving unit, 4- steering mechanism, 5- wheels, 201- adsorption unit bracket, 202- pitch joint axis, 203- rotor disc body, 204- pitch servo coupling, 205- pitch servo steering disc, 206- pitch servo, 207- roll joint fixing frame, 208- roll joint fixing axis, 209- roll frame bearing frame A, 210- roll servo steering disc, 211- roll servo, 212- propeller motor, 213- propeller, 214- roll frame body, 215- roll joint shaft plug, 216- roll servo 6-rolling joint rolling shaft, 217-rolling frame bearing frame B, 301-track longitudinal frame, 302-track transverse frame, 303-driving gear, 304-driving gear coupling, 305-driven gear, 306-driven gear shaft, 307-track, 308-limiting bolt, 309-track drive motor, 3011-track pitch axis, 401-upper steering fixed frame, 402-steering shaft, 403-steering block, 404-steering tie rod, 405-lower steering fixed frame, 406-steering servo arm, 407-steering servo, 63-rear track travel unit, 64-front track travel unit. DETAILED DESCRIPTION

[0048] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

[0049] Embodiment 1:

[0050] In view of the characteristics of traditional wall-climbing robots, such as poor ability to climb over obstacles, slow moving speed, and easy instability when moving, this embodiment provides a tracked twin-rotor wall-climbing robot. The wall-climbing robot can be stably adsorbed on the wall surface, has a certain obstacle-climbing ability, a fast moving speed, and is not prone to slipping and overturning.

[0051] like Figure 1 and Figure 2 As shown, the wall-climbing robot mainly includes: a robot base plate 1, a two-degree-of-freedom reverse thrust adsorption unit 2, a crawler travel unit 3, a steering mechanism 4 and wheels 5.

[0052] For the convenience of description, the moving direction of the wall-climbing robot is assumed to be the longitudinal direction and the width direction is assumed to be the transverse direction.

[0053] The robot base plate 1 is a flat plate, on which eight copper columns are bolted, and the other ends of the copper columns are bolted to two small support plates. Electronic components such as microprocessors and nine-axis sensors are placed on the two small support plates, among which the nine-axis sensor can monitor the posture of the robot base plate 1 in real time. The robot base plate 1 adopts a composite material of "carbon plate-aramid paper honeycomb-carbon plate", which has a relatively light overall weight and also ensures strength. Two crawler driving units 3 are fixed on the lateral sides of the rear of the robot base plate 1 as the rear driving units of the wall-climbing robot, and two wheels 5 are respectively fixed on the lateral sides of the front of the robot through a steering mechanism 4 as the front driving units of the wall-climbing robot; at the same time, two-degree-of-freedom reverse thrust adsorption units 2 are respectively arranged at the front and rear ends of the longitudinal center axis of the wall-climbing robot.

[0054] like Figure 4 and Figure 5 As shown, the crawler travel unit 3 includes: a crawler longitudinal frame 301, a crawler cross frame 302, a driving gear 303, a driving gear coupling 304, a driven gear 305, a driven gear shaft 306, a crawler 307, a limit bolt 308 and a crawler drive motor 309. The crawler travel unit 3 is connected to the robot base plate 1 through the crawler longitudinal frame 301; the crawler cross frame 302 is connected to the crawler longitudinal frame 301 through a crawler pitch shaft 3011, and the axial direction of the crawler pitch shaft 3011 is along the horizontal direction of the wall-climbing robot; the rear end of the crawler cross frame 302 is connected to the crawler drive motor 309 through bolts, that is, the crawler drive motor 309 is fixed on the crawler cross frame 302. The power output end of the crawler drive motor 309 is connected to the driving gear 303 through the driving gear coupling 304 (the driving gear coupling 304 and the driving gear 303 are connected through a flat key) to ensure the transmission of torque. The crawler track 307 is wound around the driving gear 303 and the driven gear 305 to form a belt transmission mechanism; the crawler travel unit 3 is driven by the crawler drive motor 309 to roll the crawler track. The driven gear shaft 306 supported at the front end of the crawler cross frame 302 is connected to the driven gear 305 through a flat key. When the crawler track 307 rolls, the driven gear 305 will also roll. The driven gear 305 plays the role of supporting the crawler track 307. The crawler cross frame 302 can rotate around the axial direction of the crawler pitch axis 3011, thereby driving the belt transmission mechanism to rotate around the crawler pitch axis 3011, thereby achieving the effect of enhancing the obstacle crossing performance. A limit bolt 308 is fixed on each of the front and rear sides above the track pitch axis 3011 on the track longitudinal frame 301, which is used to limit the rotation range of the track cross frame 302, that is, to limit the rotation range of the track 307, to prevent the contact area between the track 307 and the contact surface from being too small and causing slippage; thereby ensuring the contact area between the track travel unit 3 and the contact surface, and further ensuring that the robot has sufficient adhesion when traveling.

[0055] like Figure 6-Figure 8As shown, the steering mechanism 4 includes: an upper steering fixed frame 401, a steering shaft 402, a steering block 403, a steering tie rod 404, a lower steering fixed frame 405, a steering servo arm 406 and a steering servo 407. The steering servo 407 is fixed on the robot base plate 1. One end of the upper steering fixed frame 401 is connected to the robot base plate 1, and the other end is provided with a round hole for supporting the steering shaft 402; one end of the lower steering fixed frame 405 is connected to the robot base plate 1, and the other end is provided with a round hole for supporting the steering shaft 402; the upper and lower ends of the steering shaft 402 are respectively fixed in the round holes of the upper steering fixed frame 401 and the lower steering fixed frame 405 by a retaining spring, and the axis of the steering shaft 402 is the front wheel steering shaft. The steering block 403 is mounted on the outside of the steering shaft 402 and can rotate around the axis of the steering shaft 402. The power output end of the steering servo 407 is connected to the steering servo arm 406, one end of the steering tie rod 404 is hinged to the steering servo arm 406, and the other end is hinged to the steering block 403 to form a hinge mechanism. The steering tie rod 404 includes a screw sleeve at both ends as a middle stud, that is, the two ends of the stud are respectively threadedly connected to two screw sleeves, and the two screw sleeves are respectively hinged to the steering servo arm 406 and the steering block 403, so that the length of the steering tie rod 404 can be adjusted by the middle stud, which is convenient for the installation of the steering mechanism 4 and can provide installation accuracy. A cylinder is extended at one end of the steering block 403 for connecting with the wheel 5. Therefore, when the steering servo 407 rotates, the steering servo arm 406 is driven to rotate, and then the steering block 403 is driven to rotate around the axis of the steering shaft 402 through the steering tie rod 404. The rotation of the steering block 403 drives the wheel 5 to rotate around the front wheel steering shaft (i.e. the axis of the steering shaft 402). The steering mechanism 4 ensures that the front wheel of the robot (ie, the wheel 5) can rotate around an axis perpendicular to the robot base plate 1 (ie, the front wheel steering axis). According to the Ackerman steering principle, this can improve the flexibility of the robot's movement.

[0056] Specifically, Figure 6 As shown, the upper steering fixed frame 401 is a flat plate structure, fixed on the upper surface of the robot base plate 1, and the lower steering fixed frame 405 is a "Z" structure, the upper horizontal portion of which is fixedly connected to the lower surface of the robot base plate 1, and the lower horizontal portion is extended outward to support the steering shaft 402; and a plurality of reinforcing ribs are arranged at the horizontal bend at the lower end of the lower steering fixed frame 405; the steering mechanism 4 is connected to the robot base plate 1 through the upper steering fixed frame 401 and the lower steering fixed frame 405 of the above-mentioned structural form, and the overall structural rigidity is large, ensuring the stability of the chassis structure.

[0057] like Figure 3As shown, the two-degree-of-freedom reverse thrust adsorption unit 2 generates an adsorption force toward the contact surface through the rotation of the propeller 213, and the two-degree-of-freedom reverse thrust adsorption unit 2 can adjust the pitch angle and the roll angle. The two-degree-of-freedom reverse thrust adsorption unit 2 includes: an adsorption unit bracket 201, a pitch joint shaft 202, a rotor disc body 203, a pitch servo coupling 204, a pitch servo steering disc 205, a pitch servo 206, a roll joint fixing frame 207, a roll joint fixing shaft 208, a roll frame bearing frame A209, a roll servo steering disc 210, a roll servo 211, a propeller motor 212, a propeller 213, a roll frame body 214, a roll joint shaft plug 215, a roll joint rolling shaft 216, and a roll frame bearing frame B217. The rotor disc body 203 is a circular frame, and the two opposite lateral ends of its outer circumference are connected to the adsorption unit bracket 201 set on the robot base plate 1 through pitch joints, thereby installing the two-degree-of-freedom reverse thrust adsorption unit 2 on the robot base plate 1.

[0058] Specifically: the pitch joint at one lateral end of the rotor disc body 203 is a pitch joint axis 202, one end of the pitch joint axis 202 is connected to the rotor disc body 203, and the other end is supported on the adsorption unit bracket 201 through a bearing; the axial direction of the pitch joint axis 202 is along the lateral direction of the wall-climbing robot, and the rotor disc body 203 can rotate around the axial direction of the pitch joint axis 202 to adjust the pitch angle. The pitch joint at one lateral end of the rotor disc body 203 includes: a pitch servo 206, a pitch servo steering wheel 205 and a pitch servo coupling 204; wherein the pitch servo 206 is fixed on the adsorption unit bracket 201 at this end, the pitch servo steering wheel 205 is connected to the rotor disc body 203 through the pitch servo coupling 204, the pitch joint axis 202 is coaxial with the pitch servo coupling 204, and the axis is the pitch axis of the two-degree-of-freedom reverse thrust adsorption unit 2. The pitch servo 206 drives the pitch servo steering wheel 210 and the pitch servo coupling 204 to rotate, thereby driving the rotor disc body 203 to rotate around the pitch axis to adjust the pitch angle.

[0059] A roll frame body 214 is longitudinally arranged inside the rotor disc body 203, one end of the roll frame body 214 is connected to a roll joint fixing frame 207 arranged on the rotor disc body 203 through a roll joint fixing shaft 208; the other end of the roll frame body 214 is connected to a roll frame bearing frame B217 arranged on the rotor disc body 203 through a roll joint rolling shaft 216, that is, the roll joint rolling shaft 216 is supported on the roll frame bearing frame B217 through a bearing. The roll joint rolling shaft 216 is coaxially arranged with the roll joint fixing shaft 208, and this axis is the roll axis of the two-degree-of-freedom reverse thrust adsorption unit 2. Specifically, the roll servo 211 includes a servo body and a roll servo steering disc 210 as a power output end. The servo body is fixed on the roll frame body 214. The roll servo steering disc 210 is fixedly connected to the roll joint fixed shaft 208. The roll joint fixed shaft 208 is fixedly connected to the roll joint fixed frame 207. One end of the roll frame body 214 is supported on the roll joint fixed shaft 208 through a bearing. The other end of the roll frame body 214 is connected to the roll joint rolling shaft 216 through a roll joint shaft plug 215. The roll joint rolling shaft 216 is supported on the roll frame bearing frame B217 through a bearing. The output end of the roll servo 211, i.e., the roll servo steering disc 210, is fixed, and the servo body rotates, thereby driving the roll frame body 214 to rotate around the roll shaft to adjust the roll angle.

[0060] The propeller motor 212 is connected to the roll frame body 214 by bolts and is located in the middle of the rotor disc body 203. The power output end of the propeller motor 212 is connected to the propeller 213 to drive the propeller 213 to rotate. When the robot is working, the propeller motor 212 drives the propeller 213 to rotate, thereby generating reverse thrust.

[0061] Furthermore, when processing the roll cage body 214, the carbon plate of the corresponding shape is first cut into the corresponding size by laser cutting technology, and finally fixed by industrial welder glue DP460. This ensures that the processing cost of the roll cage body 214 is low, the weight is light, and the strength is high.

[0062] Furthermore, industrial friction conveyor belts are adhered to the surfaces of the wheels 5 and the track 307 to increase the adhesion between the robot and the contact surface.

[0063] like Fig. 9 As shown, when the robot is crossing an obstacle, the crawler travel unit 3 can rotate around the crawler pitch axis 3011. The rolling direction of the crawler 307 is always perpendicular to the normal of the obstacle, which ensures that the robot has sufficient traction when moving forward, thereby increasing the maximum height of the obstacle that can be crossed. The limit bolts 308 connected to the crawler longitudinal frame 301 can limit the rotation range of the crawler cross frame 302, ensuring the contact area between the crawler travel unit 3 and the contact surface, thereby ensuring that the robot has sufficient adhesion when traveling.

[0064] When the tracked twin-rotor wall-climbing robot is working, the propeller motor 212 drives the propeller 213 to rotate, and the propeller 213 cuts the air to generate a flow field, and the flow field generates a pressure difference above and below the propeller 213. The pressure difference generates a force on the propeller 213, and the force is a reverse thrust. The propeller 213 is located in the center of the roll frame body 214, and the direction of the reverse thrust can be adjusted by rotating the roll servo and the pitch servo.

[0065] When the robot moves, the track drive motor 309 drives the driving gear to rotate, thereby rolling the track 307. The steering servo 407 drives the wheel 5 to rotate around the front wheel rotation axis. More specifically, according to the Ackerman steering principle, by controlling the rotation speed of the track 307 and the rotation angle of the robot wheel 5 around the front wheel steering axis, the robot can move forward, backward and turn.

[0066] When working on the wall, the two-degree-of-freedom reverse thrust adsorption unit 2 can adjust the angle of the reverse thrust so that the reverse thrust provides longitudinal, lateral, and perpendicular components to the robot base plate 1. The longitudinal component of the reverse thrust can provide traction in the robot's forward direction, the lateral component of the reverse thrust can provide lateral pulling force for the robot, and the component perpendicular to the wall can provide positive pressure for the robot. More specifically, when the robot is moving forward, by adjusting the pitch angle of the two-degree-of-freedom reverse thrust adsorption unit 2, traction is provided in the robot's forward direction to ensure that the robot has sufficient power to move forward. When the robot has a tendency to slide (such as being disturbed laterally or needing to resist gravity), the robot is prevented from further sliding by adjusting the roll angle of the two-degree-of-freedom reverse thrust adsorption unit 2. When the robot has a tendency to overturn, the two-degree-of-freedom reverse thrust adsorption unit 2 adjusts the angle so that the component of the robot's reverse thrust perpendicular to the wall is larger to prevent the robot from overturning.

[0067] like Fig.10 As shown, further, when the wall-climbing robot performs the conversion from the ground to the wall: when the wheel 5 of the robot touches the wall, the two-degree-of-freedom reverse thrust adsorption unit 2 in the front adjusts its pitch angle and increases the speed of the propeller motor 212 to ensure that there is enough reverse thrust in front of the robot, so that the front wheel of the robot (i.e., wheel 5) is lifted. When the nine-axis sensor on the robot detects the change in the pitch angle of the robot base plate 1, the crawler driving unit 3 behind the robot rolls at a certain speed to ensure that the crawler driving unit 3 is constantly approaching the wall while the wheel 5 is lifted on the wall. Finally, when the crawler driving unit 3 and the wheel 5 both touch the vertical wall, the conversion from the ground to the vertical wall is completed.

[0068] Embodiment 2:

[0069] On the basis of the above-mentioned embodiment 1, this embodiment provides another embodiment of a crawler-type dual-rotor wall-climbing robot. The difference from the above-mentioned embodiment 1 is that the front driving unit in this embodiment is also a crawler driving unit, and the structure of the crawler driving unit is the same as that in the above-mentioned embodiment 1, that is, the present embodiment includes a front crawler driving unit 64 and a rear crawler driving unit 63; the wall-climbing robot in this embodiment does not include a steering mechanism; the crawler-type dual-rotor robot uses crawler driving systems at the front and rear. According to the differential steering principle, the robot can move forward, backward and turn by adjusting the speed of each crawler driving motor.

[0070] Although the present invention has been described in detail above by general description and specific embodiments, it is obvious to those skilled in the art that some modifications or improvements can be made to the present invention. Therefore, these modifications or improvements made without departing from the spirit of the present invention all belong to the scope of protection claimed by the present invention.

Claims

1. A crawler-type dual-rotor wall-climbing robot, characterized in that: include: A robot base plate (1), a two-degree-of-freedom reverse thrust adsorption unit (2), a front travel unit and a rear travel unit; the rear travel unit is a crawler travel unit (3); The two crawler travel units (3) are fixed on the left and right sides of the rear part of the robot base plate (1); the two front travel units are fixed on the left and right sides of the front part of the robot base plate (1); a two-degree-of-freedom reverse thrust adsorption unit (2) is respectively arranged at the front and rear ends of the longitudinal center axis of the robot base plate (1); the two-degree-of-freedom reverse thrust adsorption unit (2) generates an adsorption force toward the contact surface through the rotation of the propeller (213), and the two-degree-of-freedom reverse thrust adsorption unit (2) can adjust the pitch angle and the roll angle; The crawler travel unit (3) comprises: a crawler longitudinal frame (301), a crawler transverse frame (302), a driving gear (303), a driven gear (305), a crawler (307) and a crawler drive motor (309); The crawler travel unit (3) is connected to the robot bottom plate (1) via a crawler longitudinal frame (301); the crawler transverse frame (302) is connected to the crawler longitudinal frame (301) via a crawler pitch axis (3011), and the axial direction of the crawler pitch axis (3011) is along the lateral direction of the wall-climbing robot; the crawler transverse frame (302) is capable of rotating around the axial direction of the crawler pitch axis (3011); The rear end of the crawler cross frame (302) is fixedly connected to a crawler drive motor (309), and the power output end of the crawler drive motor (309) is connected to the driving gear (303); the crawler (307) is wrapped around the driving gear (303) and the driven gear (305) to form a belt transmission mechanism; A driven gear shaft (306) supported at the front end of the crawler track cross frame (302) is connected to the driven gear (305); When the robot is crossing an obstacle, the crawler travel unit (3) is capable of rotating around the crawler pitch axis (3011) to ensure that the rolling direction of the crawler (307) is always perpendicular to the normal line of the obstacle; On the crawler longitudinal frame (301), a limiting bolt (308) is fixed on each side of the crawler cross frame (302) in the rotation direction around the crawler pitch axis (3011) to limit the rotation range of the crawler cross frame (302); The front travel unit comprises a steering mechanism (4) and a wheel (5); the wheel (5) is connected to the robot base plate (1) via the steering mechanism (4); The steering mechanism (4) comprises: an upper steering fixing frame (401), a steering shaft (402), a steering block (403), a steering tie rod (404), a lower steering fixing frame (405), a steering servo arm (406) and a steering servo (407); The steering servo (407) is fixed on the robot base plate (1); the upper steering fixed frame (401) is a flat plate structure, one end of which is connected to the robot base plate (1), and the other end of which is provided with a circular hole for supporting the steering shaft (402); the lower steering fixed frame (405) is a "Z"-shaped structure, the upper horizontal portion of which is connected to the robot base plate (1), and the lower horizontal portion of which is extended outward and is provided with a circular hole for supporting the steering shaft (402); and a plurality of reinforcing ribs are provided at the horizontal bend at the lower end of the lower steering fixed frame (405); the upper and lower ends of the steering shaft (402) are respectively fixed in the circular holes of the upper steering fixed frame (401) and the lower steering fixed frame (405) by means of retaining springs; The steering block (403) is sleeved on the outside of the steering shaft (402) and is capable of rotating around the axis of the steering shaft (402); The power output end of the steering servo (407) is connected to the steering servo arm (406); one end of the steering tie rod (404) is hinged to the steering servo arm (406), and the other end is hinged to the steering block (403); A cylinder extends from one end of the steering block (403) for connection with the wheel (5).

2. The crawler-type dual-rotor wall-climbing robot according to claim 1, characterized in that: The steering rod (404) comprises screw sleeves at two ends and a stud in the middle, the two ends of the stud are respectively threadedly connected to the two screw sleeves, and the two screw sleeves are respectively hinged to the steering servo arm (406) and the steering block (403); the length of the steering rod (404) can be adjusted by the length of the threaded connection between the stud and the screw sleeve.

3. The crawler-type dual-rotor wall-climbing robot according to claim 1, characterized in that: An industrial friction conveyor belt is adhered to the surfaces of the wheels (5) and the crawler tracks of the crawler travel unit (3).

4. The crawler-type twin-rotor wall-climbing robot according to claim 1, characterized in that: The front travel unit is a crawler travel unit.

5. The crawler-type twin-rotor wall-climbing robot according to claim 1, characterized in that: The two-degree-of-freedom reverse thrust adsorption unit (2) comprises: an adsorption unit bracket (201), a pitch joint shaft (202), a rotor disc body (203), a pitch servo (206), a roll joint fixing frame (207), a roll joint fixing shaft (208), a roll servo (211), a propeller motor (212), a propeller (213) and a roll frame body (214); The rotor disc body (203) is a circular frame, one of the two opposite ends of its outer circumference being connected to the pitch joint shaft (202), the pitch joint shaft (202) being supported on the adsorption unit bracket (201) via a bearing; the other end being connected to the pitch servo steering disc (205) via a pitch servo coupling (204), the pitch servo (206) being fixed to the adsorption unit bracket (201) at this end and being used to drive the pitch servo steering disc (205) to rotate, thereby driving the rotor disc body (203) to adjust the pitch angle; A roll frame body (214) is longitudinally arranged inside the rotor disc body (203); the roll servo (211) comprises a servo body and a roll servo steering disc (210) as a power output end; the servo body is fixed to the roll frame body (214); and the roll servo steering disc (210) is fixedly connected to the roll joint fixing frame (207) via a roll joint fixing shaft (208); One end of the rolling frame body (214) is supported on the rolling joint fixed shaft (208) via a bearing; the other end is connected to the rolling joint rolling shaft (216) via a rolling joint shaft plug (215); the rolling joint rolling shaft (216) is supported on the rolling frame bearing frame B (217) via a bearing; The rolling steering gear steering wheel (210) is fixed, and the steering gear body rotates, thereby driving the rolling frame body (214) to flip, thereby achieving adjustment of the flip angle; The propeller motor (212) is fixed on the tumbling frame body (214); a power output end of the propeller motor (212) is connected to the propeller (213) for driving the propeller (213) to rotate.

6. The crawler-type twin-rotor wall-climbing robot according to claim 5, characterized in that: When the wall-climbing robot is converting from the ground to the wall: When the wheel (5) touches the wall, the two-degree-of-freedom reverse thrust adsorption unit (2) in front adjusts its pitch angle and increases the rotation speed of the propeller (213) to lift the wheel (5); when the nine-axis sensor installed on the robot base plate (1) detects the change in the pitch angle of the robot base plate (1), the crawler travel unit (3) rolls at a set speed to ensure that the wheel (5) is lifted on the wall while the crawler travel unit (3) continuously approaches the wall; finally, the crawler travel unit (3) and the wheel (5) both touch the vertical wall, thereby completing the conversion from the ground to the vertical wall.

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